Had mine done at around 140k miles, I think. Have 155k now and no issues or rattles. My dealer does good work and the SA said 'they have a guy' who's good at this work and is pretty much the only one who performs the recall work.

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8/2011 X5 xDrive35d Sport, Black Sapphire Metallic, Black Nevada Leather, Fine Burr Walnut Trim
2/2001 M5, Jet Black, Exclusive Complete Black Walk Nappa Point Heritage Leather, Black Cubic Trim